• Journal of Astronomy and Space Sciences
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• v.29 no.4
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• pp.381-387
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• 2012

The planetary exploration rover executes various missions after moving to the target point in an unknown environment in the shortest distance. Such missions include the researches for geological and climatic conditions as well as the existence of water or living creatures. If there is any obstacle on the way, it is detected by such sensors as ultrasonic sensor, infrared light sensor, stereo vision, and laser ranger finder. After the obtained data is transferred to the main controller of the rover, decisions can be made to either overcome or avoid the obstacle on the way based on the operating algorithm of the rover. All the planetary exploration rovers which have been developed until now receive the information of the height or width of the obstacle from such sensors before analyzing it in order to find out whether it is possible to overcome the obstacle or not. If it is decided to be better to overcome the obstacle in terms of the operating safety and the electric consumption of the rover, it is generally made to overcome it. Therefore, for the purpose of carrying out the planetary exploration task, it is necessary to design the proper suspension system of the rover which enables it to safely overcome any obstacle on the way on the surface in any unknown environment. This study focuses on the design of the new double 4-bar linkage type of suspension system applied to the Korea Aerospace Research Institute rover (a tentatively name) that is currently in the process of development by our institute in order to develop the planetary exploration rover which absolutely requires the capacity of overcoming any obstacle. Throughout this study, the negative moment which harms the capacity of the rover for overcoming an obstacle was induced through the dynamical modeling process for the rocker-bogie applied to the Mars exploration rover of the US and the improved version of rocker-bogie as well as the suggested double 4-bar linkage type of suspension system. Also, based on the height of the obstacle, a simulation was carried out for the negative moment of the suspension system before the excellence of the suspension system suggested through the comparison of responding characteristics was proved.

• Journal of the Korea Society for Simulation
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• v.20 no.4
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• pp.105-114
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• 2011

The roadmap-based planning is a path planning method which is used widely for a goal-directed movement in Robotics and has been applied to the world of computer animation such as computer games. However it is unnatural for computer characters to follow the path planned by the roadmap method as it is performed in Robotics. Flocking which is used for realistic and natural movements in computer animation enables character's movement by using a few simple rules without planning unlike the roadmap method. However it is impossible to achieve a goal-directed movement with flocking only because it does not keep states. In this paper we propose a simulation method which combines planning based on the road map with reactive actions for natural movements along the path planned. We define and implement steering behaviors for a leader which are needed to follow the trajectory naturally by analysing characteristics of roadmap-based paths and for the rest of members which follow the leader in various manners by detecting obstacles. The simulations are performed and demonstrated by using the implemented steering behaviors on every possible combination of roadmap-based path planning methods and models of configuration spaces. We also show that the detection of obstacle-collisions can be done effectively because paths are planned in the configuration space in which a moving object is reduced to a point.

• Journal of Space Technology and Applications
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• v.1 no.1
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• pp.64-75
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• 2021

On the moon as well as the earth, one of the easiest ways to understand geological formation history of any region is to observe the stratigraphy if it is available, the order in which the strata build up. By analyzing stratigraphy, it is possible to infer what geological events have occurred in the past. Mare Nubium also has an unique normal fault called Rupes Recta that shows stratigraphy. However, a rover moving with wheels is incompetent to explore the cliff since the Rupes Recta has an inclination of 10° - 30°. Therefore, a quadruped walking robot must be employed for stable expedition. To exploration a fault with a four-legged walking robot, it is necessary to design an expedition route by taking account of whether the stratigraphy is well displayed, whether the slope of the terrain is moderate, and whether there are obstacles and rough texture in the terrain based on the remote sensing data from the previous lunar missions. For the payloads required for fault surface exploration we propose an optical camera to grasp the actual appearance, a spectrometer to analyze the composition, and a drill to obtain samples that are not exposed outward.

• Journal of Navigation and Port Research
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• v.46 no.4
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• pp.359-366
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• 2022

While the Forward Freight Agreement (FFA) has emerged as an effective hedging tool since early 1990, the basis risk and cash flow distortions have been addressed as obstacles to the active use of FFAs. This research analyses the basis risk of FFAs and provides a feasible suggestion to reduce it. Basis risk is divided into timing basis, route basis, size basis, and low liquidity basis. The timing basis is defined as the difference between the physical hire, fixed on the specific contract date and the FFA settlement price, calculated by averaging spot rates for a certain period. Timing basis is considered the worst in eroding the effectiveness of FFAs. This paper suggests a change of hire payment criterion from contract date to 15-day moving average, as a means of mitigating the basis risk, and analyzed the effectiveness through historical simulation. The result revealed that the change is effective in mitigating the timing basis. This study delivers a meaningful implication to shipping practice in that the change of hire payment criterion mitigates the basis risk and eventually activates the use of FFAs in the future.

• Smart Media Journal
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• v.12 no.3
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• pp.19-29
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• 2023

The eye tracking technology is widespread all around the society, and is demonstrating great performances in both preciseness and convenience. Hereby we can glimpse new possibility of an interface's conduct without screen-touching. This technology can become a new way of conversation for those including but not limited to the patients suffering from Lou Gehrig's disease, who are paralyzed each part by part of the body and finally cannot help but only moving eyes. Formerly in that case, the patients were given nothing to do but waiting for the death, even being unable to communicate with there families. A new interface that harnesses eyes as a new means of communication, although it conveys great difficulty, can be helpful for them. There surely are some eye tracking systems and equipment for their exclusive uses on the market. Notwithstanding, several obstacles including the complexity of operation and their high prices of over 12 million won($9,300) are hindering universal supply to people and coverage for the patients. Therefore, this paper suggests wearable-type eye tracking device that can support minorities and vulnerable people and be occupied inexpensively and study eye tracking method in order to maximize the possibility of future development across the world, finally proposing the way of designing and developing a brought-down costed eye tracking system based on high-efficient wearable device.

• Journal of Intelligence and Information Systems
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• v.18 no.2
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• pp.19-28
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• 2012

After the internet era, we are moving to the ubiquitous society. Nowadays the people are interested in the multimodal interaction technology, which enables audience to naturally interact with the computing environment at the exhibitions such as gallery, museum, and park. Also, there are other attempts to provide additional service based on the location information of the audience, or to improve and deploy interaction between subjects and audience by analyzing the using pattern of the people. In order to provide multimodal interaction service to the audience at the exhibition, it is important to distinguish the individuals and trace their location and route. For the location tracking on the outside, GPS is widely used nowadays. GPS is able to get the real time location of the subjects moving fast, so this is one of the important technologies in the field requiring location tracking service. However, as GPS uses the location tracking method using satellites, the service cannot be used on the inside, because it cannot catch the satellite signal. For this reason, the studies about inside location tracking are going on using very short range communication service such as ZigBee, UWB, RFID, as well as using mobile communication network and wireless lan service. However these technologies have shortcomings in that the audience needs to use additional sensor device and it becomes difficult and expensive as the density of the target area gets higher. In addition, the usual exhibition environment has many obstacles for the network, which makes the performance of the system to fall. Above all these things, the biggest problem is that the interaction method using the devices based on the old technologies cannot provide natural service to the users. Plus the system uses sensor recognition method, so multiple users should equip the devices. Therefore, there is the limitation in the number of the users that can use the system simultaneously. In order to make up for these shortcomings, in this study we suggest a technology that gets the exact location information of the users through the location mapping technology using Wi-Fi and 3d camera of the smartphones. We applied the signal amplitude of access point using wireless lan, to develop inside location tracking system with lower price. AP is cheaper than other devices used in other tracking techniques, and by installing the software to the user's mobile device it can be directly used as the tracking system device. We used the Microsoft Kinect sensor for the 3D Camera. Kinect is equippedwith the function discriminating the depth and human information inside the shooting area. Therefore it is appropriate to extract user's body, vector, and acceleration information with low price. We confirm the location of the audience using the cell ID obtained from the Wi-Fi signal. By using smartphones as the basic device for the location service, we solve the problems of additional tagging device and provide environment that multiple users can get the interaction service simultaneously. 3d cameras located at each cell areas get the exact location and status information of the users. The 3d cameras are connected to the Camera Client, calculate the mapping information aligned to each cells, get the exact information of the users, and get the status and pattern information of the audience. The location mapping technique of Camera Client decreases the error rate that occurs on the inside location service, increases accuracy of individual discrimination in the area through the individual discrimination based on body information, and establishes the foundation of the multimodal interaction technology at the exhibition. Calculated data and information enables the users to get the appropriate interaction service through the main server.

• Journal of Internet Computing and Services
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• v.14 no.5
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• pp.101-117
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• 2013

As the number of online game user has been rapidly increased thanks to the recent vitalization of online contents market, not only new business opportunity but also the opportunity to create high profits have been provided as well. However, the increase of the number of online game user and the rapid expansion of the market evoke a cutthroat completion among online game service providers, and also high barriers to entry to online game market have been erected. Thus, what kinds of efforts need for the business success and sales increase in online game market? In lots of researches regarding online contents business, the deepening of loyalty was considered as a critical factor for the business success. According to the study on user's behavior in online environment, users would experience the Flow while using online service, and then, if they were in state of the Flow, they would use the service constantly. High customer loyalty to online game means high will to use the online game too. The purpose of this research was i) to examine what factors enable users to be naturally immersed in online game while playing it, ii) to examine what properties of online game can make game more interesting and exciting, iii) to verify that such factors are critical in deepening customer loyalty, and iv) to suggest some essential factors to be fun and exciting games, on where the focus should be put, and the directionality for the development for sales expansion of online game developer or online game service provider. The research results are as below: First, the involvement and the perceived quality which were characteristics of brand appeared to be factors most affecting Flow. This shows that once game user get interested in online game that user has played frequently, even though new games are released, user will continuously flow the game not moving to new games, and also shows that users not only get more interested but also put more trust in games in the site to where users are frequently going than games in other sites, and consequently user can increasingly flow the game. Second, the compensation and graphics which are the characteristics of contents appeared to be factors affecting Flow. Proper compensation which is given to game users triggers fun and interests in game and makes them flow more and more. And graphics make users to feel game space as if real space and let them flow in game with more reality. Third, challenges, support, and the stability which are technical characteristics appeared to be factors affecting Flow. Challenges enable users to not only experience new virtual world but also solve various difficulties and obstacles. Once users feel fun and interests through this challenge, they can naturally flow games. In addition, the stability of network provides reliability in security and hacking. By doing so, it can induce users to flow more and more. Lastly, when aforementioned characteristics including contents characteristics, technical characteristics, and brand characteristics are organically combined each other, game users feel fun and total minutes are naturally increased, so that game users experience Flow, and consequently the customer loyalty will be deepened as well.